Merge branch 'ros2:rolling' into patch-7

.github/workflows/lint.yml

@@ -8,14 +8,14 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
     strategy:
       fail-fast: false
       matrix:
           linter: [copyright, xmllint]
     steps:
-    - uses: actions/checkout@v2
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/action-ros-lint@0.1.3
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling
@@ -43,10 +43,11 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [cppcheck, cpplint, uncrustify]
+          # We exclude cppcheck due to https://github.com/ament/ament_lint/pull/345
+          linter: [cpplint, uncrustify]
     steps:
-    - uses: actions/checkout@v2
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/action-ros-lint@0.1.3
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling
@@ -67,17 +68,18 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
     strategy:
       fail-fast: false
       matrix:
-          linter: [cppcheck, cpplint, clang_format]
+          # We exclude cppcheck due to https://github.com/ament/ament_lint/pull/345
+          linter: [cpplint, clang_format]
           include:
           - linter: clang_format
             arguments: "--config rosbag2_storage_mcap/.clang-format"
     steps:
-    - uses: actions/checkout@v2
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/action-ros-lint@0.1.3
       with:
         linter: ${{ matrix.linter }}
         arguments: ${{ matrix.arguments }}
@@ -88,14 +90,14 @@ jobs:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-focal-ros-rolling-ros-base-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
     strategy:
       fail-fast: false
       matrix:
           linter: [pep257, flake8]
     steps:
-    - uses: actions/checkout@v2
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/action-ros-lint@0.1.3
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling

.github/workflows/test.yml

@@ -13,7 +13,7 @@ jobs:
   build_and_test:
     runs-on: ubuntu-latest
     container:
-      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+      image: rostooling/setup-ros-docker:ubuntu-noble-latest
     steps:
     - name: Build and run tests
       id: action-ros-ci
@@ -91,8 +91,7 @@ jobs:
     - name: Is regeneration of Python stubs required?
       run: |
         rosbag2_path=$(colcon list -p --packages-select rosbag2)/..
-        sudo pip uninstall -y mypy
-        sudo apt update && sudo apt -y install mypy=0.942-1ubuntu1
+        sudo apt update && sudo apt -y install mypy
         source install/setup.sh
         stubgen -p rosbag2_py -o ${rosbag2_path}/rosbag2_py
         cd ${rosbag2_path}

ros2bag/ros2bag/verb/record.py

@@ -194,6 +194,17 @@ def add_recorder_arguments(parser: ArgumentParser) -> None:
         '--compression-threads', type=int, default=0,
         help='Number of files or messages that may be compressed in parallel. '
              'Default is %(default)d, which will be interpreted as the number of CPU cores.')
+    parser.add_argument(
+        '--compression-threads-priority', type=int, default=0,
+        help='Compression threads scheduling priority. \nFor Windows the valid values are:'
+             ' THREAD_PRIORITY_LOWEST=-2, THREAD_PRIORITY_BELOW_NORMAL=-1 and'
+             ' THREAD_PRIORITY_NORMAL=0. Please refer to'
+             ' https://learn.microsoft.com/en-us/windows/win32/api/processthreadsapi/nf-processthreadsapi-setthreadpriority'  # noqa E501
+             ' for details.\n'
+             'For POSIX compatible OSes this is the "nice" value. The nice value range is'
+             ' -20 to +19 where -20 is highest, 0 default and +19 is lowest.'
+             ' Please refer to https://man7.org/linux/man-pages/man2/nice.2.html for details.\n'
+             'Default is %(default)d.')
     parser.add_argument(
         '--compression-mode', type=str, default='none',
         choices=['none', 'file', 'message'],
@@ -338,6 +349,7 @@ def main(self, *, args):  # noqa: D102
         record_options.compression_format = args.compression_format
         record_options.compression_queue_size = args.compression_queue_size
         record_options.compression_threads = args.compression_threads
+        record_options.compression_threads_priority = args.compression_threads_priority
         record_options.topic_qos_profile_overrides = qos_profile_overrides
         record_options.include_hidden_topics = args.include_hidden_topics
         record_options.include_unpublished_topics = args.include_unpublished_topics

ros2bag/test/test_record_with_compression_thread_priority.py

@@ -0,0 +1,55 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+import tempfile
+
+import unittest
+
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+import launch_testing
+import launch_testing.actions
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    tmp_dir_name = tempfile.mkdtemp()
+    output_path = Path(tmp_dir_name) / 'ros2bag_test_record_with_compression_thread_priority'
+    record_process = ExecuteProcess(
+        cmd=['ros2', 'bag', 'record', '-a', '--output', output_path.as_posix(),
+             '--log-level', 'debug', '--compression-threads-priority', '1',
+             '--compression-mode', 'file', '--compression-format', 'zstd'],
+        name='ros2bag-cli',
+        output='screen',
+    )
+
+    return LaunchDescription([
+        record_process,
+        launch_testing.actions.ReadyToTest()
+    ]), locals()
+
+
+class TestRecordWithCompressionThreadPriority(unittest.TestCase):
+
+    def test_priority_propagated_into_compression_thread(
+            self, record_process, proc_output):
+        proc_output.assertWaitFor(
+            'Setting compression thread priority to 1',
+            timeout=45,
+            process=record_process
+        )

rosbag2_compression/include/rosbag2_compression/compression_options.hpp

@@ -64,8 +64,9 @@ struct CompressionOptions
   /// \brief // The number of compression threads
   uint64_t compression_threads{0};
   /// \brief If set, the compression thread(s) will try to set the given priority for itself
-  /// For Windows the valid values are: THREAD_PRIORITY_LOWEST, THREAD_PRIORITY_BELOW_NORMAL and
-  /// THREAD_PRIORITY_NORMAL. For POSIX compatible OSes this is the "nice" value.
+  /// For Windows the valid values are: THREAD_PRIORITY_LOWEST=-2, THREAD_PRIORITY_BELOW_NORMAL=-1
+  /// and THREAD_PRIORITY_NORMAL=0. For POSIX compatible OSes this is the "nice" value.
+  /// The nice value range is -20 to +19 where -20 is highest, 0 default and +19 is lowest.
   std::optional<int32_t> thread_priority;
 };
 

rosbag2_compression/src/rosbag2_compression/sequential_compression_writer.cpp

@@ -71,6 +71,9 @@ SequentialCompressionWriter::~SequentialCompressionWriter()
 void SequentialCompressionWriter::compression_thread_fn()
 {
   if (compression_options_.thread_priority) {
+    ROSBAG2_COMPRESSION_LOG_DEBUG_STREAM(
+      "Setting compression thread priority to "
+        << *compression_options_.thread_priority);
 #ifdef _WIN32
     // This must match THREAD_PRIORITY_IDLE, THREAD_PRIORITY_LOWEST...
     int wanted_thread_priority = *compression_options_.thread_priority;

rosbag2_compression/test/rosbag2_compression/test_sequential_compression_writer.cpp

@@ -154,7 +154,7 @@ class SequentialCompressionWriterTest : public TestWithParam<uint64_t>
 
   const uint64_t kDefaultCompressionQueueSize = 1;
   const uint64_t kDefaultCompressionQueueThreads = 4;
-  const std::optional<int32_t> kDefaultCompressionQueueThreadsPriority = std::nullopt;
+  const int32_t kDefaultCompressionQueueThreadsPriority = 0;
 };
 
 TEST_F(SequentialCompressionWriterTest, open_throws_on_empty_storage_options_uri)

rosbag2_py/README.md

@@ -14,7 +14,12 @@ source install/setup.sh
 # Make sure rosbag2_py can be imported
 python3 -c 'import rosbag2_py'
 
-sudo apt update && sudo apt install mypy=0.942-1ubuntu1
+# Ubuntu 24.04
+sudo apt update && sudo apt install mypy
+
+# Older Ubuntu
+# pip3 install -U mypy==1.9
+
 cd <rosbag2 git repo>
 stubgen -p rosbag2_py -o rosbag2_py
 ```

rosbag2_py/rosbag2_py/__init__.pyi

@@ -6,3 +6,5 @@ from rosbag2_py._reindexer import Reindexer as Reindexer
 from rosbag2_py._storage import BagMetadata as BagMetadata, ConverterOptions as ConverterOptions, FileInformation as FileInformation, MessageDefinition as MessageDefinition, MetadataIo as MetadataIo, ReadOrder as ReadOrder, ReadOrderSortBy as ReadOrderSortBy, StorageFilter as StorageFilter, StorageOptions as StorageOptions, TopicInformation as TopicInformation, TopicMetadata as TopicMetadata, get_default_storage_id as get_default_storage_id, to_rclcpp_qos_vector as to_rclcpp_qos_vector
 from rosbag2_py._transport import PlayOptions as PlayOptions, Player as Player, RecordOptions as RecordOptions, Recorder as Recorder, ServiceRequestsSource as ServiceRequestsSource, bag_rewrite as bag_rewrite
 from rosbag2_py._writer import SequentialCompressionWriter as SequentialCompressionWriter, SequentialWriter as SequentialWriter, get_registered_compressors as get_registered_compressors, get_registered_serializers as get_registered_serializers, get_registered_writers as get_registered_writers
+
+__all__ = ['bag_rewrite', 'CompressionMode', 'CompressionOptions', 'compression_mode_from_string', 'compression_mode_to_string', 'ConverterOptions', 'FileInformation', 'get_default_storage_id', 'get_registered_readers', 'get_registered_writers', 'get_registered_compressors', 'get_registered_serializers', 'to_rclcpp_qos_vector', 'ReadOrder', 'ReadOrderSortBy', 'Reindexer', 'SequentialCompressionReader', 'SequentialCompressionWriter', 'SequentialReader', 'SequentialWriter', 'StorageFilter', 'StorageOptions', 'TopicMetadata', 'TopicInformation', 'BagMetadata', 'MessageDefinition', 'MetadataIo', 'Info', 'Player', 'PlayOptions', 'ServiceRequestsSource', 'Recorder', 'RecordOptions', 'LocalMessageDefinitionSource']

rosbag2_py/rosbag2_py/_compression_options.pyi

@@ -5,20 +5,17 @@ MESSAGE: CompressionMode
 NONE: CompressionMode
 
 class CompressionMode:
-    __doc__: ClassVar[str] = ...  # read-only
     __members__: ClassVar[dict] = ...  # read-only
     FILE: ClassVar[CompressionMode] = ...
     MESSAGE: ClassVar[CompressionMode] = ...
     NONE: ClassVar[CompressionMode] = ...
     __entries: ClassVar[dict] = ...
     def __init__(self, value: int) -> None: ...
     def __eq__(self, other: object) -> bool: ...
-    def __getstate__(self) -> int: ...
     def __hash__(self) -> int: ...
     def __index__(self) -> int: ...
     def __int__(self) -> int: ...
     def __ne__(self, other: object) -> bool: ...
-    def __setstate__(self, state: int) -> None: ...
     @property
     def name(self) -> str: ...
     @property

rosbag2_py/rosbag2_py/_message_definitions.pyi

@@ -1,5 +1,3 @@
-from typing import Any
-
 class LocalMessageDefinitionSource:
     def __init__(self) -> None: ...
-    def get_full_text(self, *args, **kwargs) -> Any: ...
+    def get_full_text(self, *args, **kwargs): ...

rosbag2_py/rosbag2_py/_reader.pyi

@@ -1,10 +1,8 @@
-from typing import Any
-
 class SequentialCompressionReader:
     def __init__(self) -> None: ...
-    def get_all_message_definitions(self, *args, **kwargs) -> Any: ...
-    def get_all_topics_and_types(self, *args, **kwargs) -> Any: ...
-    def get_metadata(self, *args, **kwargs) -> Any: ...
+    def get_all_message_definitions(self, *args, **kwargs): ...
+    def get_all_topics_and_types(self, *args, **kwargs): ...
+    def get_metadata(self, *args, **kwargs): ...
     def has_next(self) -> bool: ...
     def open(self, arg0, arg1) -> None: ...
     def open_uri(self, arg0: str) -> None: ...
@@ -16,9 +14,9 @@ class SequentialCompressionReader:
 
 class SequentialReader:
     def __init__(self) -> None: ...
-    def get_all_message_definitions(self, *args, **kwargs) -> Any: ...
-    def get_all_topics_and_types(self, *args, **kwargs) -> Any: ...
-    def get_metadata(self, *args, **kwargs) -> Any: ...
+    def get_all_message_definitions(self, *args, **kwargs): ...
+    def get_all_topics_and_types(self, *args, **kwargs): ...
+    def get_metadata(self, *args, **kwargs): ...
     def has_next(self) -> bool: ...
     def open(self, arg0, arg1) -> None: ...
     def open_uri(self, arg0: str) -> None: ...